关键词： 机器人学  

ISBN: (纸本)9787568255127

摘要： 本书是一部比较系统和全面的机器人方向基础知识的教学用书，借鉴了国内外先进教育理念和教学方式，以及国家级的项目研究经历对教材结构进行了合理规划，并基于理论与实践深度耦合教学体系对教材具体内容进行了规划。全书共12章，分为基础篇和提高篇两部分，主要内容包括机器人发展趋势及组成分类，机器人数学基础，正逆运动学求解，速度与雅可比矩阵计算，轨迹规划，机器人关节伺服运动控制，机器人动力学，机器人的柔顺控制，机器人运动学参数辨识，机器人视觉识别与定位以及基于DAMS/MATLAB的机器人动力学联合仿真等内容。

关键词： robotics   Machine Learning  

关键词： robotics   scientific periodicals   databases   subject classification   Ulrich's Periodicals Directory   Web of Science   Scopus   eLibrary   VINITI RAS  

摘要： Currently important Russian and foreign sources of scientific and technical information related to robotics are discussed. An attempt is made to analyze scientific and technical periodicals of the relevant subject matter, selected from the global knowledgebase of periodicals, that is, Ulrich's Directory of Periodicals. Leading scientific serials attributed to robotics that have the best bibliometric indicators according to the global information and analytical systems Scopus and Web of Science are identified. The specific features of the classification of the subject matter in various classification systems and rubricators for scientific and technical information are considered. Special attention is given to Russian scientific periodicals on robotics included in Russian scientific electronic library (***) and information resources of All-Russian Institute for Scientific and Technical Information of Russian Academy of Sciences (VINITI RAS). Particular focus is placed on the problem of access to these and other kinds of information sources on robotics, which is of great importance for researchers and specialists working in this field.

关键词： Backstepping control   rehabilitation robots   time-delay control   time-delay error (TDR)  

摘要： In this paper, we present a backstepping approach integrated with time-delay estimation to provide an accurate estimation of unknown dynamics and to compensate for external bounded disturbances. The control was implemented to perform passive rehabilitation movements with a 7-DOF exoskeleton robot named ETS-Motion Assistive Robotic-Exoskeleton for Superior Extremity. The unknown dynamics and external bounded disturbances can affect the robotic system in the form of input saturation, time-delay errors, friction forces, backlash, and different upper-limb's mass of each subject. The output of the time-delay estimator is coupled directly to the control input of the proposed adaptive tracking control through a feed-forward loop. In this case, the control system ensures a highly accurate tracking of the desired trajectory, while being robust to the uncertainties and unforeseen external forces, and flexible with variation of parameters. Due to the proposed strategy, the designed control approach does not require accurate knowledge of the dynamic parameters of the exoskeleton robot to achieve the desired performance. The stability of the exoskeleton robot and the convergence of its state errors are established and proved based on Lyapunov-Krasovskii functional theory. Experimental results and a comparative study are presented to validate the advantages of the proposed strategy.

关键词： 3D Printing   soft robots   functional materials   biomimetic  

摘要： Soft robots have received an increasing attention due to their advantages of high flexibility and safety for human operators but the fabrication is a challenge. Recently, 3D printing has been used as a key technology to fabricate soft robots because of high quality and printing multiple materials at the same time. Functional soft materials are particularly well suited for soft robotics due to a wide range of stimulants and sensitive demonstration of large deformations, high motion complexities and varied multi-functionalities. This review comprises a detailed survey of 3D printing in soft robotics. The development of key 3D printing technologies and new materials along with composites for soft robotic applications is investigated. A brief summary of 3D-printed soft devices suitable for medical to industrial applications is also included. The growing research on both 3D printing and soft robotics needs a summary of the major reported studies and the authors believe that this review article serves the purpose.

关键词： 机器人市场   海洋环境监测   资源勘查   机器人竞赛   水下机器人   无人机   可燃冰   商机  

摘要： 无人机难道只能在天上飞吗？其实能“水遁”的产品也不少。目前已有玩家注意到了浩瀚的水下潜藏的商机，他们正在展开一场水下机器人竞赛。工业级的水下机器人在海上打捞、海洋环境监测、海洋资源勘查等行业已贡献了重要力量，例如水底探查、可燃冰的采集、石油等资源的勘探等等。

关键词： 重载搬运   复合机器人   ADAMS软件   动态仿真  

摘要： 针对重载搬运复合机器人的结构特征,利用Solidworks软件建立机器人三维模型。采用ADAMS软件进行动力学仿真,获得机器人关键部件的运行动态特性与末端Z轴方向位移特征曲线。对机器人关键部件运行过程中误差波动及形成原因进行了分析,验证了模型设计的合理性;通过模拟机器人典型工况下的作业受力情况,考察分析了关键部件的峰值力矩特征规律,验证了驱动电机功率参数选择的合理性。

关键词： 竞赛驱动   创新能力   实践教学   应用型本科院校  

摘要： 应用型或技术型人才培养作为高等教育改革的重要内容近年来备受关注。结合近10 a开展的机器人竞赛实践活动,对应用型人才培养模式进行探究,提出了一种以机器人竞赛为驱动的计算机人才培养模式。通过该培养模式的实施,有效地提高了在校学生的自主创新和实践能力,较好地实现了高校到社会的知识与实践衔接,提高了学生的就业率,对应用型本科高校计算机专业的教学改革起到了积极的促进作用。

关键词： 立方体机器人   动力学模型   凯恩方法   拉格朗日方法  

摘要： 针对立方体机器人自平衡控制问题,对其以棱边为支点的动力学建模问题进行了研究.以所设计的立方体机器人样机为具体研究对象,分别采用拉格朗日方法和凯恩方法建立起相应的动力学模型,通过比较2种方法的建模结果和数值仿真分析,从理论上验证了所建立模型的正确性.基于建立的模型设计了平衡控制器,并将其应用于立方体机器人样机控制,取得了预期的效果,再次验证所建立模型的正确性.所建立的动力学模型,为进一步研究立方体机器人的平衡控制奠定了基础.

关键词： 长治市   机器人竞赛   教研   鲁豫   青少年   学校校长   山西省   馆领导  

摘要： 2017年12月15日，第28届晋冀鲁豫四省市电教研讨会在山西省长治二中举行，来自四省市的教育局电教馆领导、学校校长等共计200余人相聚长治，共商电教信息化事业发展大计。